Cabling system and method for facilitating fluid three-dimensional movement of a suspended camera

ABSTRACT

Embodiments of the invention are ideally suited for use filming movies, sporting events, or any other activity that requires fluid movement of a camera or other object to any position within a defined volume of space. To accomplish such positioning embodiments of the invention are configured to move an object throughout three-dimensional space by relocating one or more lines that are feed through a plurality of opposing sides of the object. These line(s) (e.g., a cable, rope, string, cord, wire, or any other flexible connective element) which support the object over a volume of space are arranged in way that allows the object to be rapidly moved to and from any location within the defined volume of space. For instance, the system may be arranged to perform dimensional movement using one line configured as an endless loop, one line configured as a half loop, two lines configured as

This application is a continuation in part of U.S. patent applicationSer. No. 10/604,525, now U.S. Pat. Ser. No. 6,809,495, filed on Jul. 28,2003 entitled “System and Method for Moving Objects withinThree-Dimensional Space” which is hereby incorporated by reference.

BACKGROUND OF INVENTION

1. Field of the Invention

Embodiments of the invention described herein pertain to the field ofaerial cable rail systems that enable the fluid movement of a suspendedcamera or other object within three-dimensional space.

2. Description of the Related Art

An aerial cable rail system is a system based on an elevated cable orrope, along which objects are transported. Existing cable rail systemsrely on large fixed structures and/or complex control systems in orderto facilitate the movement of objects. Many of these systems areimpractical or difficult to use in that such systems typically fail tosatisfactorily achieve the full spectrum of platform stability, ease ofcontrol, a compact footprint, ease of transport, speed, load bearing,extensibility, maintainability and platform stability.

Objects have been supported and moved through three-dimensional spacevia ropes and cables for various purposes in the past. In U.S. Pat. No.494,389 to Sherman granted in 1893, a device is described allowing formovement of a hoist through three dimensional space via a complexarrangement of cables and pulleys. A logging system is described in U.S.Pat. No. 1,782,043 to Lawson granted in 1926 employs large amounts ofcable and extensive reeving in order to suspend and move logs over largedistances. A similar rope crane is described in U.S. Pat. No. 3,065,861to Cruciani granted in 1960. These systems generally employ one or morehighlines which are tightly stretched and from which an object issuspended. Other patents such as U.S. Pat. No. 3,043,444 to Meltongranted in 1962 and French patent 2,318,664 to Kennedy granted in 1977took a different approach to suspending and moving objects through threedimensional space by using one cable per support pulley per winch. The'444 and '664 patents minimize the amount of cable in the system but donot allow for simple control of the cables in the system since thespeeds and lengths of each cable must change non-uniformly dependingupon the path of motion of the supported object.

The cable movement systems previously mentioned were generally used tohaul equipment or material. Simple cable support systems have also beenused to support cameras in three-dimensional space on ropes with varyingdegrees of success. In U.S. Pat. No. 367,610 to Fairman granted in 1887,a balloon moved with two guy lines is described that allows a camera totake pictures from locations high above the ground. In U.S. Pat. No.578,980 to Eddy granted in 1897, a group of cameras is hoisted on a kitestring attached to a reel in order to capture panoramic photographs. InU.S. Pat. No. 894,348 to Seele granted in 1908, a camera is dropped froma balloon in a sphere in order to eliminate the undesirable pendulumeffects and motion effects of wind from the resulting photograph that isexposed when a shutter string is fully extended. The '348 patent maypossibly be the first patent that attempts to isolate an airborne camerafrom the jarring effects of the vehicle carrying the camera. In U.S.Pat. No. 1,002,897 to Brown granted in 1911, a camera is directlyattached to a kite string with a timer in the form of a propeller thattakes a picture after a certain period of time. In U.S. Pat. No.1,301,967 to Parks granted in 1919, a kite string based camera isdescribed that travels along the kite string to a preset point takes aphotograph and automatically descends back down the kite string so thatthe kite does not have to be lowered between photos.

During the 1920's work was begun on stabilizing cameras carried invehicles since the movement of the vehicles was limiting the quality ofthe photographs obtained. In U.S. Pat. No. 1,634,950 to Lucian grantedin 1927, a gyro-stabilized camera mount is described that activelystabilizes a camera in the pitch and roll axes in order to keep a cameraactively isolated from the undesired angular motion of the aerial, landor marine vehicle carrying the camera through three-dimensional space.Many other gyro-stabilizer patents were awarded after Lucian '950 andteach active stabilization for equipment when that equipment issupported by a moving vehicle.

In U.S. Pat. No. 4,710,819, a camera suspension system is described thatutilizes a minimum of at least three cables wherein each cable has twoends with one end of each cable fixedly attached to an equipment supportmember and the other end of each cable fixedly attached to a winch. Inbetween the fixedly attached endpoints lies a pulley that is used as asupport for the cable to provide a vertical offset between the groundand the equipment support member. Movement is achieved by reeling thecables in and out to position the camera with motion between two pointsgenerally requiring all cables to move simultaneously at differentrates.

In U.S. Pat. No. 4,625,938, a camera support system is disclosed inwhich a camera payload can be moved within three-dimensional space in away that allows for active stabilization of velocity of the panning(vertical axis) of the equipment support member.

In U.S. Pat. No. 5,440,476, a cable support system is described formoving objects by extending and retracting independent ropes thatcorrespond one-to-one with the number of winches and support pulleyssupporting a central object. Even simple one axis movement requires thatall ropes in the system change length in a coordinated fashion toprevent slack in the other ropes supporting the object. The '476 devicecannot be operated in its best mode without a computerized controlsystem as is true for the '938 and '819 devices previously mentioned.

In U.S. Pat. No. 6,566,834, an invention is disclosed in which a payloadcan be moved and angularly positioned within three-dimensional space.The invention requires a computer control system in order to calculatethe change in lengths of the supports ropes in order to move the payloadbetween two points. The invention appears to require power at theplatform and locates the winches for the system on the platform, furtherreducing the payload capacity of the platform. Furthermore, theinvention does not provide simple X, Y and Z independence for controlpurposes and it appears that complex sensing devices must be deployed inorder to keep the cables tensioned properly.

In U.S. Pat. No. 5,585,707, an invention is disclosed in which a robotor person can be readily moved within three-dimensional space. Thepayload is limited and the support structure is small scale. If thestructure were to be scaled up, obstacles such as goal posts or lightpoles would inhibit the motion of the payload through a path between twopoints defined within the cube, since there are numerous wires requiredto practice the invention. Also, the invention would not appear to allowthe Z-axis to vary beneath the cube, and the size of the cube supportstructure to service a large volume of space would be extremelyexpensive to build on the scale required. Again, complex control isrequired to keep the tension in all of the ropes at the correct levelduring movement of the supported equipment.

In U.S. Pat. No. 5,568,189, an invention is disclosed for moving camerasin three-dimensional space. The problems with the '189 invention becomeapparent when attempting to enlarge the scale of the system. FIG. 4clearly shows how the two parallel highline cables sag inward, when thepayload is in the middle of the X, Y space. Since the invention does notuse strong rails to support the Y-axis rope, the weight bearing of theinvention is dependent upon the strength of the building or structure inwhich it is mounted and the springs in its weight bearing X-axisconnectors. The motors for the various axes are mounted up in therigging, which would require multiple extremely long power cables totraverse the volume of space along with the payload if the inventionwere modified for outdoor use. The power cables would total over 3 timesthe length of the longest axis to drive the far X-axis motor, the Y-axismotor and the Z-axis motor. Mounting heavy motors high in the riggingpresents a major safety issue given that suspension lines can break. Thesize of the motors limits the payload that can be carried, and furtherlimits the speed at which the payload can be carried. The invention isalso fixed in size, not allowing for modular addition of X travel, orincreasing the Y or Z-axis travel without mounting the structure in abigger studio or building a bigger hanger. The system requires fourropes to move an object in three dimensions.

SUMMARY OF INVENTION

Embodiments of the invention are ideally suited for use filming movies,sporting events, or any other activity that requires fluid movement of acamera or other object to any position within a defined volume of space.To accomplish such positioning embodiments of the invention areconfigured to move an object throughout three-dimensional space byrelocating one or more lines that are feed through a plurality of sidesof the object. These line(s) (e.g., a cable, rope, string, cord, wire,or any other flexible connective material) which support the object overa volume of space are arranged in way that allows the object to berapidly moved to and from any location within the defined volume ofspace. For instance, the system may be arranged to performthree-dimensional movement using one line configured as an endless loop,one line configured as a half loop, two lines configured as endlessloops or two lines configured as half loops.

The exact arrangement of the line(s) depends upon which embodiment ofthe invention is implemented. However, in each instance a set of one ormore lines suspend an object by passing through a set of line supportelements (e.g., one or more pulleys, sheaves, or any other supportassembly configured to redirect line) and around a motorized push-pullwheel. The line support elements can comprise free wheeling elements ormay be controlled elements, for example providing emergency breakcomponents, or components to monitor or control vibrations. Themotorized push-pull wheel is configured to relocate line to move theobject and maintain suspension of the object in an aerial position. Theline is moved via the push-pull wheel in way that enables movement ofthe object through the transferal of line between a plurality of sidesof the object. The line is reeved in such a manner as to provide threejunctions (for example in one embodiment two push-pull wheels and onewinch) where the line can be subjected to force thereby moving an objectin three dimensions. Movement in each of the three dimensions aresubstantially independent, with the X line allowing X-axis motion of thesupported object and the Y line allowing Y-axis motion of the platform.In one embodiment of the invention X line and Y line may be joined toform sides of the same contiguous line. The X and Y axes are notrequired to orthogonally intersect. Displacing equal lengths of the Xand Y line via a junction (for example a winch, push-pull wheel,hydraulic device, screw device or other mechanism for displacing orrelocating line) allows the Z-axis of the platform to be traversed. TheZ axis is not required to project orthogonally from the plane created bythe intersection X and Y axes and all support areas are not required tolie in the same plane.

The system can be scaled to any size by employing longer lines andmoving the supports. The supports themselves may be dynamicallyrepositioned as well. Embodiments may be configured in scalene triangleor convex or concave quadrilateral arrangements where no two sides arerequired to have the same length nor equal distances or heights betweenany two supports. This holds for single line or two line embodiments ofthe invention or any variation of these embodiments. For simplicity ofdescription of three-dimensional movement, the separate axes that asupported object may be moved are termed the X-axis, Y-axis and Z-axiswherein each of these axes are not required to project orthogonally froma plane formed by the other two axes.

In an embodiment of the invention configured for example in arectangular configuration with four regions having any appropriatenumber of line support elements, the supported object is moved along theX-axis independently of movement along the Y-axis and therefore requiresno complex control system. In this example, the Z-axis movement followsan ellipsoidal path (four foci ellipsoidal where the foci are thesupports) that can be as flat or circular as desired depending on theshape of the area of coverage desired. In the case of an area ofcoverage over a physical potential well, for example a stadium or openpit mine that is deeper in the middle than on the sides, the X-axis andY-axis motion can be configured with more or less line in the system tocreate a flatter or rounder elliptical shape in order to avoid thesurface below since the Z-axis automatically traverses vertically whenthe object moves towards the sides of the area of coverage of theinvention. The ellipsoidal path can be as flat or circular as desireddepending upon the amount of line deployed in the system and therelative height of the supports. Displacing equal lengths of line into aplurality of sides of the supported object allows the Z-axis of theplatform to be traversed which results in trivial control of the object.This technique of relocating line without the need for a control systemin order to move an object in three dimensions provides many advantagesover the prior art that requires complex control software and activestabilization.

Embodiments of the invention can also use a three support triangularconfiguration where no two sides are required to be the same length. Forany topology that embodiments of the invention are configured, there isno ratcheting movement at the object since the same line supports anobject on a plurality of sides with the object freely moving to thepoint of minimal potential energy based on the amount of linetransferred from one side to another side of the supported object. Inaddition, the lengths of the line do not require adjustment in way thatrequires complex calculations and computer control since the junctionseffecting movement of each axis are independently operated.

In an embodiment of the invention line may be relocated from one areacomprising X, Y and Z motors, and therefore distantly located motors andelectrical cables are not required although they may be utilized ifdesired. Other advantages of embodiments of the invention utilizingcollocated motors and junctions for relocating line include allowingmotors to be large, power cables to be short and located near a largegenerator and maintenance to be performed in one location. The linesupport elements (e.g., pulleys, sheaves, or any other mechanism thatcan redirect line) employed in the system may contain high speedbearings and may be configured to capture the line in order to preventderailing thereby providing an added degree of safety to the system. Thepush-pull wheels may optionally comprise grooves that grip the line inorder to prevent slippage. Any mechanism for driving or displacing linemay be substituted for the push-pull wheels. Embodiments of theinvention can utilize a push-pull wheel, reel or any mechanism foreffecting movement of line to multiply Z-axis travel. The location ofthe various components in the system may be altered includingmodifications to the reeving while keeping with the spirit of theinvention.

The supported object may comprise many types of useful devices, and theobject may then be further attached to a platform that may comprisepassive or active stabilization. For instance, the terms object mayrefer, but is not limited to, a camera, mechanical claw, hoist orloader, mining scoop or any other equipment where three-dimensionalmovement may be desired. It is also possible to use embodiments of theinvention to effectuate three-dimensional movement of one or morepersons. The word platform as used herein refers to any vehicle to whichan object may be coupled for the purposes of movement through threedimensional space in any environment subject to a vertical force, forexample the force of gravity. For example, the platform itself could besupported and moved through the air or water with supports in the air orwater so long as the platform is forced away from the supports. Theforce could be gravity for example, or the result of activation of apropeller, a thruster, positive buoyancy or any other means by which theplatform is forced away from the associated supports. The supportedobject may utilize an electrical or fiber optic cable festooned to asupport along at least one line or may travel to a non support area andmay be used for the transmission of video images or other data from thesupported object to the ground or data may be transmitted from theplatform via wireless technologies. Alternatively the platform may sendand receive video or image data via a wireless connection such as amicrowave or any other suitable transport protocol.

The platform may comprise a structure which has a center of gravity wellbelow the region where the lines pass through or couple with theplatform. Alternatively the lines may couple with the platform atapproximately the center of gravity of the supported object. Objects mayinclude, but are not limited to devices that require external power ordevices that possess their own power and are operated via wirelesssignals. Supported objects that may be moved comprise any camera systemincluding but not limited to camera systems with vertical spars such asthose found in Austrian Patent 150,740 with or without the combinationof two-axis active stabilizers as found in U.S. Pat. No. 2,446,096, U.S.Pat. No. 1,634,950, U.S. Pat. No. 2,523,267 (also comprises a three axisactive embodiment), U.S. Pat. No. 1,731,776 and Great Britain Patent516,185 all of which provide active control in the two horizontal axesin order to maintain a camera support in a vertical position. The camerasystem of U.S. Pat. No. 4,625,938 which comprises a vertical spar and ameans for stabilizing the spar may be supported and moved via usingembodiments of the invention rather than the support technique describedin the '938 Patent. Helicopter or airplane mounted cameras such as U.S.Pat. No. 3,638,502 may be supported and moved in embodiments of theinvention utilizing passive or active stabilization whether mounted atthe center of gravity or not, which is not possible using prior arttechniques since embodiments of the present invention move objects in amore stable manner.

The term stabilization as used herein comprises any mechanism forstabilizing an object about is axes. Passive stabilization may utilizestruts or damping agents that limit the pendulum motion of a suspendedobject. Active stabilization utilizes sensors to provide feedback to apowered axis in order to controllably stabilize an axis in a givendirection, velocity, acceleration, jerk or any other derivative of spaceover time.

The term line as used herein refers to a continuous and unbroken lengthof line that can bend and be directed through any number of passive orpowered or active line support elements or any other redirectionmechanism. In one embodiment of the invention line breakage causescomponents associated with the line to become nonfunctional. To avoidthis issue and thereby enhance system safety, the invention contemplatesthe use of a limiting mechanism to keep a supported object from makingcontact with the area of coverage. By supporting an object on aplurality of sides with a single line, there is a built in safetycharacteristic not found in the prior art whereby one line may breakwithout causing the supported object to contact the ground below.

A drum winch is a device that operates on a last-in-first-out basis forstoring line and controlling the length of deployed line that is coupledwith the drum. Thus a drum winch operates in much the same way that areel (e.g., a fishing reel) does. A push-pull wheel works in acompletely different way than a drum winch and is functionally amotorized pulley that operates on a first-in-first-out basis forrelocating line without storing the line for later extension. Thepush-pull wheel does not change the amount of line deployed, but ratherrelocates line from the intake side to the outlet side of the device.

The word motor as used herein refers to a motor which may comprise adrive pulley or drum winch or any other device that can relocate line orcable. This definition is provided for purposes of ease of illustrationsince a motor must drive some type of device to relocate line. Inaddition, in certain embodiments motors may be substituted withhydraulics, electric actuators or any other method of moving line andkeeping within the scope and spirit of the invention.

Some examples of the type of line embodiments of the invention that maybe utilized include synthetic rope fibers such as but not limited toHMDPE (High Molecular Density Polyethylene) fibers such as Spectra, orimproved fibers such as Vectran. Line of this length, strength andweight allows the platform to be deployed over large distances.Synthetic line is 90 percent as strong as cable while having 10 percentof the weight.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a perspective view of the overall system.

FIG. 2 is a perspective view of the X-axis reeving.

FIG. 3 is a perspective view of the Y-axis reeving.

FIG. 4 is a top view of a rectangular embodiment of the system.

FIG. 5 is a top view of a quadrilateral embodiment of the system whereno two sides are required to have the same length.

FIG. 6 is a perspective view of an embodiment of the platform.

FIG. 7 is a perspective view of an embodiment of the platform.

FIG. 8 is a perspective view of an embodiment of the platform utilizinga passive or active stabilized platform.

FIG. 8A is a perspective view of an embodiment of the platform utilizinga passive or active stabilized platform and counterweight.

FIG. 9 is a top view of a scalene triangular embodiment of the systemwhere no two sides are required to have the same length.

FIG. 10 is a close up view of the reeving comprising line supportelements.

FIG. 11 is a perspective view of an embodiment of the platformcomprising two line support elements per side.

FIG. 12 shows reeving of a single line embodiment.

FIG. 13 is a perspective view of an embodiment of the platform utilizinga passive or active stabilized platform and counterweight.

FIG. 14 shows a logical reeving diagram.

FIGS. 15A–D show two line embodiments.

FIGS. 16A and 16B show one line embodiments.

FIG. 17 shows a side view of one embodiment of the Z movement devicehaving at least one eyelet.

FIGS. 18A and 18B show an embodiment of the Z movement device employinga block and tackle for multiplication of the Z-axis traversal of thesupported object.

DETAILED DESCRIPTION

Embodiments of the invention relate to a cabling system and method forfacilitating fluid three-dimensional movement of a suspended camera orother object. In the following description, numerous specific detailsare set forth to provide a more thorough description of embodiments ofthe invention. It will be apparent, however, to one skilled in the art,that the invention may be practiced without these specific details. Inother instances, well known features have not been described in detailso as not to obscure the invention. However, in each instance the claimsand the full scope of any equivalents are what define the metes andbounds of the invention.

Embodiments of the invention move an object throughout three-dimensionalspace by relocating line coupled with a plurality of sides of theobject. In an embodiment utilizing two lines, once the displacementheight of the platform is set to a minimum value for a coverage area, ifone line breaks, the supported platform maintains its elevation over theground via the unbroken line and travels to the middle of the brokenline axis. The lowest the platform can descend is to the preset minimumvalue since opposing sides of the platform are still coupled with theremaining unbroken line.

Embodiments of the invention may comprise one line configured as anendless loop, one line configured as a half loop, two lines configuredas endless loops or two lines configured as half loops. Each of theseembodiments comprise two line sides designated the X line side and the Yline side, an may be termed the X line and Y line for short. In theembodiment comprising one line configured as an endless loop,approximately half of the loop is configured to effect movement of the Xaxis while the remaining line is configured to control the Y axis. Inthe embodiment comprising one line configured as a half loop,approximately half of the loop is termed the X line side while theremaining line is termed the Y line side, although they may be calledthe X line and Y line for short. In the embodiment comprising two linesconfigured as endless loops, one line is termed the X line side and theother line is termed the Y line side. In the embodiment comprising twolines configured as half loops, one line is termed the X line side andthe other line is termed the Y line side, again X line side and Y lineside may be termed the X line and Y line for short. FIGS. 15A–D show twoline embodiments while FIGS. 16A, B show one line embodiments and willbe explained in detail below. More lines may be utilized to support anobject for extra safety but are not required and may pair up with theexisting lines, or may use separate supports of unequal numbers withregards to the primary supports, and which may be separated from theprimary supports by any distance or height.

Regardless of the embodiment, line is reeved in such a manner as toprovide three junctions where the line can be subjected to force therebymoving an object in three dimensions that are substantially independent.Relocation of line on the X line side moves the object independent ofthe Y axis, while relocation of Y line side moves the object independentof the X axis. The X and Y axes are not required to orthogonallyintersect. Displacing equal lengths of the line allows the Z-axis of theplatform to be traversed. The Z axis is not required to projectorthogonally from the plane created by the intersection X and Y axes.

FIG. 1 shows a perspective view of an embodiment of the system. Thethree axes are shown in the figure with the X-axis shown left to right,the Y-axis shown into the page and the Z-axis shown bottom to top of thepage. The X-axis, Y-axis and Z-axis are not required to orthogonallyproject from the plane formed by the intersection of other two axes(meaning that each of the axes may project at angles other than 90degrees with respect to the plane formed by the other two axes). In thisconfiguration, support structures 110, 112, 114 and 116 surround theareas within which platform 124 is to move and separate platform 124from the ground. Support structures may include passive or active linesupport elements and can comprise any structure that allows these linesupport elements to be distantly located to define an area of space. Forinstance, any structure that allows line to be redirected can serve as asupport structure. A few examples of such structures include, but arenot limited to buildings, trees, canyons, or any other structure with aheight differential above the ground to which line support elements maybe placed. The support structures or support points may be at the samevertical height or may comprise different heights.

Platform 124 provides a mobile support for any object or piece ofequipment that would benefit from having the ability to move inthree-dimensions. For example, platform 124 may comprise a structurewhich has a center of gravity well below the region where the lines passthrough, about or couple with the platform. Alternatively the lines maycouple with the platform at approximately the center of gravity of thesupported object. Objects may include, but are not limited to devicesthat require external power or devices that possess their own power andare operated via wireless signals. Supported objects that may be movedcomprise any camera system and include, but are not limited to, camerasystems with vertical spars such as those found in Austrian Patent No.150,740 with or without the combination of two-axis active stabilizersas found in U.S. Pat. No. 2,446,096, U.S. Pat. No. 1,634,950, U.S. Pat.No. 2,523,267 (also comprises a three axis active embodiment), U.S. Pat.No. 1,731,776 and Great Britain Patent No. 516,185 all of which provideactive control in the two horizontal axes in order to maintain a camerasupport such as '740 in a vertical position. The camera system of U.S.Pat. No. 4,625,938 which comprises a vertical spar and a stabilizer maybe supported and moved using embodiments of the invention rather thanthe cable support mechanism described in the '938 Patent. Helicopter orairplane mounted cameras such as U.S. Pat. No. 3,638,502 may besupported and moved in embodiments of the invention utilizing passive oractive stabilization whether mounted at the center of gravity or not,which is not possible using prior art techniques since embodiments ofthe present invention move objects in a more stable manner.

Platform 124 is supported and is moved in three dimensions by one or twolines depending upon the embodiment of the invention utilized. Each lineis reeved to form a pair of “V” shapes when platform 124 is centeredwithin the system and when viewed from above with the points of the “V”nearest platform 124. In embodiments utilizing two rope sides to supportthe platform, the total amount of each of the rope line sides has thesame length as measured from supports 110, 112, 114 and 116 to platform124. This result is independent of the topology used, i.e., independentof the number of supports and allows for trivial Z-axis displacement. Bydisplacing the line (either one or two lines depending upon theembodiment) from the system via Z movement device 104, platform 124 israised. Conversely, by deploying the two line sides, platform 124 islowered. In FIG. 1, the line on the right side of X-axis motor 103 isdesignated 18 a while the line on the left side of X-axis motor 103(e.g., an X push-pull wheel) is designated 18 b. Sides 18 a and 18 b aredifferent sides of the same continuous line where the designationchanges at the motor for description purposes only. The line on theright side of Y-axis motor 102 (e.g., a Y push-pull wheel) is designated19 a while the line on the left side of Y-axis motor 102 is designated19 b. Sides 19 a and 19 b are different sides of the same line where thedesignation changes at the motor. Therefore, line designations beginningwith 18 signify the X line and line designations beginning with 19signify Y line. Depending upon the embodiment of the inventionimplemented there is a total of one or two lines. Control of X, Y andZ-axis motors can be in the form of simple switches, potentiometers, ora computer system that takes into account the position of the platformin order to adjust Z-axis traversal to keep platform 124 at the same Zposition while traversing the X and/or Y axis, although this is notrequired but may be utilized for repeatability of movement sequences orany other purpose. Z-axis motor 101 and/or Z movement device 104 can bereplaced by a screw or hydraulic device or any other actuator or devicecapable displacing line.

In a two line embodiment employing two half loops of line, Z movementdevice 104 may be coupled to opposing ends of X line, side 18 a and side18 b and opposing ends of Y line, side 19 a and side 19 b. In a two lineembodiment employing two endless loops, the X line for example can behooked into an eyelet of a winch or coupled to a non-rotating pulleythat may be displaced vertically without a winch (hydraulics or screwfor example) in order to displace X line in the system in order toadjust the vertical placement of platform 124. This means that not onlyis there a two line embodiment comprising two half loops each with apair of ends, but there is a two line embodiment where each line is inan endless loop with no ends. Although both lines may be formed intohalf loops, one or the other line may be formed into a half loop whilethe other line is formed into an endless loop. For example the X linecould be an endless loop coupled with Z movement device 104 with a wincheyelet while the Y line could be a half loop with both ends coupled witha different portion of the winch. These embodiments are shown in FIGS.15A–D.

Regardless of the number of line ends (zero or two) for each line in thetwo line embodiment, line support element 120 is coupled with Y lineside 19 a. These line support elements may be passive (e.g., pulleys orsheaves), however if control software is utilized to coordinate movementmay also be active (e.g., motorized push-pull wheels or pulleys). Activecomponents may be utilized to further stabilize platform 124 duringmovement or acceleration. Line support element 122 is coupled to Y lineside 19 b. Line support element 121 is coupled to X line side 18 a andline support element 123 is coupled with X line side 18 b. By rotatingX-axis motor 103 clockwise in the figure, thereby decreasing the amountof line on X line side 18 a, which increases the amount of line on Xmovement side 18 b, the platform moves in the positive X direction, tothe right in the figure. By rotating Y-axis motor 102 clockwise in thefigure, thereby decreasing the amount of line on Y line side 19 a, whichincreases the amount of line on Y movement side 19 b, the platform movesin the positive Y direction, into the figure. Line support elements 120,121, 122 and 123 may freely rotate or may comprise active components tofurther aid in stabilizing platform 124.

FIG. 10 shows an embodiment of the reeving in support structure 110 andline support assembly 105 detailed with each line redirected throughtherein. As this is a logical pattern for purposes of illustration, oneskilled in the art will recognize that the various line support elementsmay be rearranged and realigned to minimize the space taken up by linesupport assembly 105 and line may be redirected to alternate supports inother embodiments of the invention. FIG. 10 shows one possibleembodiment with screw 1000 driving Z movement device 104 upward anddownward in order to displace line into and out of the system. Any typeof device capable of displacing line may be used in place of Z movementdevice 104.

Generator and electronic drive units 100 may be utilized to power Z-axismotor 101 and or Z movement device 104, X-axis motor 103 and Y-axismotor 102. Any other source of power may be used for the motors. Z-axismotor 101 may drive Z movement device 104 configured as a drum winchwith separate areas for holding line sides. Z movement device 104displaces line into and out of the system. For ease of illustration,other possible Z movement device 104 embodiments are not shown, such asbut not limited to electronic actuator components. X-axis motor 103 andY-axis motor 102 drive bull wheels, push-pull wheels or powered pulleys,and are also not shown for ease of illustration. Push-pull wheels moveline in a first-in-first-out manner without engaging a line end and actto transfer line without storing line while drum winches move line in alast-in-first-out manner and store line that is later reeled back out.Push-pull wheels (e.g., drive pulleys) and drum winches that minimizeline wear and provide anti-derailing features may employed to drive theline in the system.

An embodiment of the invention can run fiber optics cables or powercables along X line side 18 b or Y line side 19 a from support structure110 to platform 124. Support structures 112, 114 and 116 canalternatively supply power to the platform via identical means. Platform124 may alternatively house devices with collocated power suppliesnegating the need for external power cables. Devices attached toplatform 124 may include wireless or other remote controlled devices andmay comprise their own active or passive stabilization. Lines comprisingelectrical transmission characteristics may loop many times through aline support element 120 in order to inductively transfer power toplatform 124 with the number of coils about line support element 120 andthe number of coils on platform 124 effectively forming a transformerwith the ratio of coils determining the reduction or increase ofvoltage.

FIG. 2 shows an embodiment of the X-axis reeving. X movement in thepositive X direction, to the right in the figure, is accomplished byrotating X-axis motor 103 clockwise in the diagram. As X-axis motor 103rotates clockwise, line 18 a moves down support structure 110 from linesupport assembly 105 from support structure 112 and hence out of linesupport element 121. Both lines shown between support structures 110 and112 are designated 18 a, and they are indeed the same line, although thetop line only moves during Z-axis traversal. As the line leaves linesupport element 121 to support structure 112, it pulls platform 124 tothe right in the positive X-axis direction. At the same time, X lineside 18 b flows upward from X-axis motor 103 to line support assembly105 to support structure 116 and into line support element 123. Sincethe length of X line side 18 a on the right side of platform 124 isdecreasing in length while the length of X line side 18 b on the leftside of platform 124 is increasing, the platform moves to the right, inthe positive X-axis direction. The converse applies for motion in thenegative X-axis direction by rotation X-axis motor 103 in the otherdirection. Modifications to the reeving in the system may be made suchas switching the origination points of line sides 18 b heading into linesupport element 123 from support 110 to 116 and visa versa. Othermodifications can be made to the reeving while keeping with the spiritof the invention. The total amount of line 18 in the system does notchange in order to move platform 124 in the X-axis, it is merelytransferred from one side of platform 124 to the other side of platform124.

Rotating Z-axis motor 101 in one direction rotates screw device 1000which raises Z movement device 104, which increases the length ofdeployed line in X line sides 18 a and 18 b. This lowers the platform inthe Z-axis direction. As Z movement device 104 rises, X line side 18 amoves upward into line support assembly 105 to support structure 112, tosupport structure 114 and into line support element 121. At the sametime, X line side 18 b, also attached to Z movement device 104 movesupward into line support assembly 105 and into line support element 123.Since both sides of platform 124 have increased line length, theplatform lowers. Conversely, rotating Z-axis motor 101 in the otherdirection raises platform 124.

Note that Z movement device 104 can comprise a sequence of pulleys formultiplying the Z-axis traversal (see FIG. 18), and may also utilize ablock or other device for disabling travel in case of line breakage inor around Z movement device 104. By placing a backup means of limitingthe upward travel of Z movement device 104 the platform can beconfigured to never reach the ground beneath it even if a failurebeneath Z movement device were to occur.

FIG. 3 shows an embodiment of the Y-axis reeving. Y movement in thepositive Y direction, into the figure, is accomplished by rotatingY-axis motor 102 clockwise in the diagram. As Y-axis motor 102 rotatesclockwise, line 19 a moves down support structure 110 from line supportassembly 105 and out of line support element 120. As the line leavesline support element 120 to support structure 110, it pulls platform 124into the figure, in the positive Y-axis direction. At the same time, Yline side 19 b flows upward from Y-axis motor 102 to line supportassembly 105 to support structure 116 and into line support element 122.Since the length of Y line side 19 a on the top side of platform 124 isdecreasing in length while the length of Y line side 19 b on the bottomside of platform 124 is increasing, the platform moves into the figure,in the positive Y-axis direction. Note that the Y line sides 19 a and 19b between support structures 110 and 112 only move during Z-axistraversal. This is also true of line 19 b between support structures 112and 114. The total amount of line 19 in the system does not change inorder to move platform 124 in the Y-axis, it is merely transferred fromone side of platform 124 to the other side of platform 124.

Rotating Z-axis motor 101 in one direction increases the length ofdeployed line in Y line sides 19 a and 19 b. This lowers the platform inthe Z-axis direction. As Z movement device 104 (shown in FIG. 3 as adrum winch) rotates, Y line side 19 a and 19 b moves upward into linesupport assembly 105. Both line sides travel to support structure 112. Ymovement side 19 a travels into line support port element 120, and 19 btravels to support structure 114 and into line support element 122.Since both sides of platform 124 have increased line length, theplatform lowers. Conversely, activating Z-movement device to displace Yline 19 (both sides) in the opposite direction causes the platform torise. One skilled in the art will recognize that line 19 b may be reevedto bypass support 112 and may travel directly from support 110 tosupport 114 or may be reeved through support 116 instead of 112 beforetraveling to support 114.

Referring to FIG. 1, since all of the line supporting platform 124 fromline sides 18 a and 18 b travels directly next to line sides 19 a and 19b from each support, e.g., since each support has a length of line 18and 19 traveling to platform 124, the total amount of line deployed fromthe supports of line 18 is equal to the total amount of line deployedfrom the supports of line 19 to the platform no matter where platform124 is. This allows for trivial control of Z-axis displacement since allof the line may be moved in the same amount to effect Z-axisdisplacement. This is not possible with one cable per support pulley permotor per winch systems since all of the line lengths change unequallydepending on where the supported object is.

A one line embodiment of the invention is formed by connecting one endof the X line to one end of the Y line, thereby yielding one line withtwo ends total. Another embodiment of the invention is created byconnected the remaining two ends of line, i.e., the other end of X lineto the other remaining end of Y line in order to form an single endlessloop of line. See FIGS. 16A and 16B. Z-movement device 104 then maycomprise two non-rotating line support elements that are moved to oraway from line support assembly 105 in order to control the Z-axisdisplacement of the system. The one line embodiment is therefore formedfrom the two lines by connecting the two lines together to form a singlestrand of line and either closing the loop or leaving two ends un-joined(zero or two line ends total). Following the single length of linethrough the system shows that indeed three-dimensions of travel can beasserted on an object with one single continuous piece of line with zeroor two total ends. The single line may have four knots tied somewherealong the stretch from Z movement device 104 to line support element 105that limit the travel of line in case of a break, any other technique oflimiting the line travel for a single break may also be used includingbrake systems in at least one support structure or on line supportelements coupled with platform 124.

FIG. 12 shows an embodiment of Z movement device 104 for exampleconfigured to use a hydraulic device with two non-rotating line supportelements connected to the top of Z movement device 104. As Z movementdevice 104 extends or contracts vertically in the Figure, more or lessline is deployed or displaced that supports platform 124. As all line inthe embodiment is one piece of continuous line that has no ends, it isdesignated line 20, however, line 20 comprises X line side 18 and Y lineside 19 where the designation changes at the Z movement device with Xline side 18 designated as line 20 between Z movement device 104 that iscoupled with X-axis motor 103 and with Y line side 19 designated as line20 between Z movement device 104 that is coupled with Y-axis motor 102.Z movement motor 101 in this embodiment comprises a hydraulic system.Another embodiment of Z movement device 104 may be a screw or electronicactuator or any other device that could possibly move the two linesupport elements associated with the device through a distance. Oneskilled in the art would recognize that reeving in several more linesupport elements to form a block and tackle between Z movement device104 and line support element 105 in order to make a Z multiplicationfactor is readily possible as per FIGS. 18A and 18B. Another embodimentof the invention whereby only one line support element is used on Zmovement device 104 exists where two of the line ends of line 20 arecoupled with Z movement device 104 and where the single line supportelement is the designated dividing point for X line side 18 and Y lineside 19 as per FIG. 16A. Coupling two line ends to Z movement devicealong with a pulley allows for a single half loop of line 20 with twoline ends to move platform 124 in three-dimensional space. Coupling theremaining two ends to form one endless loop of rope is shown in FIG.16B. The eyelets of Z movement device 104 shown in FIG. 17 may allowfree travel of line 20 through each eyelet until Z movement device 104is rotated until travel through the eyelets is not possible. This allowsthe X and Y axis push-pull wheels to have immobile junctions in which topull against so that line does not freely travel through the entiresystem. As the hydraulic device of Z movement device 104 may be replacedby a single winch with eyelets or separate areas for X line side 18 andY line side 19 of line 20, it should be clear to one skilled in the artthat a hydraulic device is not required to practice the invention andthat any mechanism which displace Z movement device 104 may besubstituted.

As shown in FIG. 12, line 20 is a single piece of line comprising X lineside 18 and Y line side 19, which may be termed X line and Y line forshort since these sides of line 20 are utilized to move through the Xaxis and Y axis respectively even though they are simply different sidesof the same line 20. Line 20, i.e., Y line side 19 (side 19 b in FIG. 1)extends from the far left side of Z movement device 104 up to linesupport element 105 to support structure 112 to support structure 114 toline support element 122 to support structure 116 to line supportelement 105 down to Y-axis motor 102 back up to line support element 105(now side 19 a in FIG. 1) to line support element 120 to supportstructure 112 to line support assembly 105 right line support element onZ movement device 104 back up to line support assembly 105 (now line 18,side 18 b in FIG. 1) to line support element 123 to support structure116 to line support assembly 105 to X-axis motor 103 back up to linesupport assembly 105 (now side 18 a in FIG. 1) to support structure 112to line support element 121 to support structure 114 to supportstructure 112 to line support assembly 105 to the left line supportelement on Z movement device 104, thereby completing the single loop ofline reeved through this embodiment of the invention. For the endlessloop embodiment, one or both of the two line support elements shown ontop of Z movement device 104 may be non-rotating so that X-axis motor103 and Y-axis motor 102 have a fixed point in which to pull against,otherwise platform 124 would not move as all line support elements inthe system would free spin. The endless loop of line could be cut at oneof the non-rotating line support elements with both resulting line endsattached to Z movement device 104 yielding a single piece of lineembodiment that is formed into a half loop of a single line instead ofan endless loop of line of a single line, this also provides points atwhich to immobilize line so that the single line with two endsembodiment does not freely spin. See FIG. 16A. Although line 20 is onecontinuous piece of line it possesses X line side 18 and Y line side 19upon which forces may be applied in order to relocate line onto eachside of platform 124 in order to move it.

FIG. 4 shows a top view of an embodiment of the system in a rectangularconfiguration. Although line support assembly 105 has been designated inthe figure, each of the support structures may have line supportassemblies of lesser complexity. Support structure 112 for example mayhave four line support elements while support structures 114 and 116 mayhave two line support elements. Each of the line support elements cancomprise any device that can guide the line into the line supportelement securely. Line support element assembly 105 for example may haveeight line support elements, four for Z-axis traversal, two for X-axismovement and two for Y-axis movement or any other number of line supportelements that allow X and Y line to move. See FIG. 10 for an exampleclose-up of support structure 110 and line support assembly 105. Theexact layout of the support elements used can be varied for spaceconsiderations or any other design requirement while keeping with thespirit of the invention. Any element capable of redirecting line may beused in place of a line support element.

FIG. 5 shows a non-rectangular embodiment of the system. In thisembodiment, if lines were drawn between the four support structures 110to 112, 112 to 114, 114 to 116 and 116 to 110, a convex quadrilateralwould result. Concave quadrilateral embodiments may be configured bymoving support structure 114 across a line drawn between supportstructure 112 and 116. Since the X-axis and Y-axis lines are equallength for each stretch between support structures, it follows that thesupport structures may be moved while maintaining full functionality ofthe system. This means that the support structures may be mobilized andphysically moved before or during operation of the system.

FIG. 9 shows a triangular shape embodiment that is constructed withthree support structures instead of four for example by eliminatingsupport structure 112 and the four line support elements in it. Thelength between support structure 110 and 116 is the shortest, the lengthbetween support structures 110 and 114 is longer and the length betweensupport structures 114 and 116 is the longest stretch. Since the threesides of the triangle are not required to be of the same length ascalene triangle is formed although isosceles and equilateral triangularembodiments may also be constructed by placing the support structures atthe required positions. Eliminating support structure 112 and the fourline support elements in it accomplished by coupling line supportassembly 105 lines to support structure 114 directly. Since the totallengths of the X and Y line are the same within the system, the same Zmovement device may be utilized to raise and lower the platform. Thatarea of coverage is a three sided triangle where no two sides arerequired to be of the same length.

FIG. 14 shows a logical diagram of a two line embodiment with slightlydifferent reeving in that there is no open side without line. Inaddition, this embodiment shows that X axis motor 103 and Y axis motor102 may be repositioned within the reeving. This figure also shows thatminor modifications to the reeving are possible while keeping within thescope and spirit of the invention. This embodiment also shows Z movementdevice 104 as a winch attached to the two sets of line ends. One line isshown in dashed lines for clarity. Movement of X axis motor 103comprising a push-pull wheel for example transfers line from the leftside of the diagram to the right side of the diagram and visa versa. Thetransfer of line does not alter the amount of line in the system. Linesupport elements 121 and 123 allow Y line to pass through as X line istransferred out of line support element 120 and into line supportelement 122 for example. This holds for independent movement of Y lineas well via Y axis motor 102 comprising a push-pull wheel for example.Since the total amount of X line and Y line remains the same as measuredfrom the supports to the supported object, X movement is independentfrom Y movement, while Z movement may be performed by a singlemechanism. Three and four support arrangements also comprise equallengths of line supporting an object where no two sides are required tobe equal length. Activation of Z movement device 104 displaces equalamounts of line via one side of each line support element 120, 121, 122and 123 and raises or lowers the platform.

FIGS. 15A–D show two line embodiment logical reevings that may occur atthe bottom left portion of FIG. 14 while FIGS. 16A–B show one lineembodiment logical reevings.

FIG. 15A shows an embodiment of the invention utilizing two lines 18 and19 wherein each line's ends are attached to Z movement device 104. FIG.15B shows an embodiment wherein line 18 has its ends attached to Zmovement device 104 while line 19 is configured as a loop through aneyelet. The side view of Z movement device 104 is shown in FIG. 17 witheyelet 1700 shown on the left, with axle 1701 shown in the center. FIG.15C shows line 18 configured as an endless loop with line 19 having itsends attached to Z movement device 104. FIG. 15D shows an embodimentwherein both lines 18 and 19 are configured as endless loops that loopthrough eyelet 1700 as shown in FIG. 17. FIG. 15D may be configured tolimit travel of line 18 and/or 19 through the eyelets to provide the Xand Y motors with fixed locations to pull against. If there are no fixedlocations in the system at all, the line in the system will freely spin.However, once a rotation of Z movement device 104 has occurred, whereinfor example Z movement device is configured as a winch, then of course,lines 18 and 19 would not freely spin through the eyelets once line waswound about the winch.

FIG. 16A shows an embodiment of the invention near the Z movement deviceemploying only one line configured as a half loop wherein two ends ofline 20 are attached to Z movement device and line 20 passes througheyelet 1700. FIG. 16B shows an embodiment of the invention employingline 20 as an endless loop throughout the system with line 20 passingthrough a pair of eyelets 1700 on Z movement device 104. FIG. 16B may beconfigured to limit travel of line 20 through the eyelets to provide theX and Y motors with fixed locations to pull against. If there are nofixed locations in the system at all, the line in the system will freelyspin. However, once a rotation of Z movement device 104 has occurred,wherein for example Z movement device is configured as a winch, then ofcourse, line 20 would not freely spin through the eyelets once line waswound about the winch.

Although the embodiments shown in FIGS. 15A–D and 16A–B are easilytransformed near Z movement device 104, other arrangements utilizing oneline or two lines in the system may be accomplished by separating thejunctions where force is applied to line. By utilizing an embodimentwhere X, Y and Z forces are applied in a centralized location,maintenance is easily performed however embodiments of the inventionrelocating various components are clearly within the scope of theinvention.

FIG. 18A shows an embodiment utilizing Z axis multiplication.Embodiments of the invention may utilize a block and tackle arrangementin the Z axis so that a limited amount of travel of Z movement device104 may displace a multiplied amount of line into the system. Themultiplication of Z axis travel may also be utilized for coverage areasthat are deeper than the distance from the Z movement device to thesupports, e.g., for an embodiment with 30 meter supports, a 10 factorblock and tackle can be utilized yielding 300 meters as the maximumdistance displaced in the Z-axis. For example, in FIG. 18A, with Zmovement device 104 in the lowest position as shown, approximately threetimes the amount of line exists as opposed to FIG. 18B when Z movementdevice is raised, yielding in this example a multiplication factor ofthree. Rod 1800 may be a hydraulically actuated rod in an embodiment ofthe invention, while Z movement motor 101 may drive a hydraulic pump.There is no requirement that Z movement motor must actually be anelectric motor, as any device capable of displacing line may be used inplace of an electric motor with the understanding that motor as definedherein defines any mechanism capable of displacing line.

FIG. 6 shows close up perspective of platform 124. This embodiment ofthe platform is suspended beneath the crossbar 601. Each of the linesupport elements 120, 121, 122 and 123 may be hinged with universaljoints. Line support element 120 may be hinged to crossbar 601 byuniversal joint 620. Single axis rotatable axles may be used in place ofuniversal joint 620. Platform 124 is suspended from crossbar 601 byplatform post 600. Any useful device or object may be mounted on theplatform. The platform itself may comprise active or passivestabilization in between crossbar 601 and post 600. Post 600 may or maynot extend above crossbar 601, and any extension above the crossbar mayor may not be balanced with regards to the center of gravity of thetotal resulting mass attached to post 600. In other words, the center ofgravity may lie above, below or at the center of gravity of theresulting object supported. When the center of gravity lies above thesupport point care must be taken to place the center of gravity closeenough to the support point so that the platform does not tip over,which can also be accomplished via active control if desired. Ingeneral, placement at the center of gravity or where the support pointis above the center of gravity allows passive or even pure free wheelingisolation to be employed. Crossbar 601 may be substituted with anystructure capable of coupling with lines including but not limited to acircular or rectangular object.

FIG. 7 shows a close up perspective of platform 700, another embodimentof a platform. This platform is supported by line support elements 120,121, 122 and 123 via universal joints. Platform 700 contains anisolator, for example at least a one axis free spinning gimbal mount 702with inner platform 701 which may support any useful device and may befurther comprise powered axes which may be moved by direct or wirelesscommand. The embodiment may comprise an isolator with one or more axesof platform 701 are isolated and free rotating, or passively stabilizedwith dampers or actively stabilized in terms of pitch, roll and pan axisrotation. The active stabilization may be position, velocity,acceleration, jerk or any other order to distance per time derivative.Platforms may be rotatable from the inside as shown or via the outsideof platform 700 (which would comprise a circular outer shape not shownfor brevity. FIG. 11 shows a variation of FIG. 7 with two line supportelements per side. In this embodiment, each side of platform 700 coupleswith an opposing line via two pulleys per side. Embodiments may employline support elements of any number or any size on the platform.

FIG. 8 shows a close up perspective of platform 124 supported by apassive or active stabilization system 803, which may exist at crossbar601 (not shown for brevity) or at platform 124 as shown, supported byrod 800 which may comprise a counterweight (shown in FIG. 13) at the topof rod 800 with rod 800 mounted on crossbar 601 slightly above thecenter of gravity of the combination of platform 124, rod 800 andcounterweight 804. Crossbar 601 may be hinged with a universal joint ormay comprise a gimbal as shown in FIG. 7. Many more platform embodimentsare possible and the platforms shown in FIGS. 6, 7, 8 and 11 are merelya small set of examples of the myriad of configurations possible. Anycamera assembly including but not limited to those with vertical orhorizontal orientations and with our without active or passivestabilization may also be supported and moved with embodiments of theinvention. Since the X and Y line (in one or two line embodiments)supports platform 124 from upward angles on each of the platforms sides,there is no need for a tag line or gimbal assembly to provide furtherstabilization although embodiments of the invention may utilize such adevice. In fact, the line support elements on platform 124 act as taglines for moving platform 124 through three dimensional space.

FIG. 1 shows an embodiment of the invention that uses single linesupport elements at all line direction points. Other embodiments may usemultiple line support element arrangements virtually anywhere where asingle line support element is used in order to change direction of aline and further prevent derailing. Line support elements with grooveshapes and rounded edges that minimize the lateral friction on linespassing through the line support elements may be utilized in order tominimize the amount of wasted power in the system. Embodiments of theinvention may use any type of line support element that works with theline specified for the system. Any linear connection device may beutilized in place of line, such as but not limited to cable. Adynamometer may be inserted in-line between Z-axis motor 101 and Zmovement device 104 in order to provide tension readings.

Platform 124 can have many different apparatus attached to it to performa variety of functions including but not limited to stabilizationdevices, gimbals, camera equipment, mining loaders, ship-to-shiploaders, logging devices, ski lift seats, gondolas, body sensing flightsimulator suits for allowing a person to simulate flying, reducedgravity simulator suits, lifting harnesses, munitions depot bombretrievers, digital video equipment for security checks in railroadyards or nuclear facilities, robotic agricultural harvest pickers forquickly picking and storing grapes or other produce or any other devicethat benefits from repeatable placement and motion in three dimensionalspace. In another embodiment, platform 124 comprises a witness cameramounted pointing down from the platform, providing a picture from theviewpoint of the platform. Camera systems previously described may bemounted at above or at approximately the center of gravity of eachdevice with active, passive or a combination of active and passivestabilization in any number of axes, some of which may be multiplyactively or passively stabilized. Platform 124 may comprise line supportelements that may or may not be located on opposing sides of theplatform as long as a line supporting platform 124 travels to supportsthat oppose each other in order to prevent ground collision in the caseof a break on another line side.

Thus, a cabling system and method for facilitating fluidthree-dimensional movement of a suspended camera or other object hasbeen described. The claims, however, and the full scope of anyequivalents are what define the metes and bounds of the invention.

1. A system for facilitating three-dimensional movement of a suspendedobject comprising: an object having a set of associated line supportelements; an X line coupled to a plurality of sides of said object andconfigured to move via said set of associated line support elements; anX junction configured to relocate said X line to effectuate X movementof said object; a Y line coupled to a plurality of sides of said objectand configured to move via said set of associated line support elements;a Y junction configured to relocate said Y line to effectuate Y movementof said object; and, a Z movement device configured to displace said Xline and said Y line to effectuate Z movement of said object.
 2. Thesystem of claim 1 wherein said X line and said Y line are two line sidesof a contiguous line.
 3. The system of claim 1 wherein said set of linesupport elements allow said X line and said Y line to pass through saidset of line support elements and comprise components which controlmovement of said X line and said Y line.
 4. The system of claim 1further comprising: said X junction comprising an X movement motorhaving an X movement device coupled with said X line; said Y junctioncomprising a Y movement motor having a Y movement device coupled withsaid Y line; and, a Z movement motor coupled with said Z movementdevice.
 5. The system of claim 4 further comprising an electricalgenerator and electronic drive units coupled to said X movement motorand said Y movement motor and said Z movement motor.
 6. The system ofclaim 1 further comprising a dynamometer for measuring the tension ofsaid Z movement device.
 7. The system of claim 1 further comprising anisolator associated with said object.
 8. The system of claim 7 whereinsaid isolator comprises passive stabilization.
 9. The system of claim 7wherein said isolator comprises active stabilization.
 10. The system ofclaim 7 wherein said isolator comprises active stabilization in at leastone first axis and passive stabilization in at least one second axis.11. The system of claim 7 where said isolator is configured to support avertical camera assembly supported at approximately the center ofgravity of said vertical camera assembly.
 12. The system of claim 7wherein said isolator is configured to support a camera assembly awayfrom the center of gravity of said camera assembly.
 13. The system ofclaim 1 wherein said object is coupled with a mechanical claw.
 14. Thesystem of claim 1 wherein said object is coupled with a hoist or loader.15. The system of claim 1 wherein said object is coupled with a miningscoop.
 16. The system of claim 1 wherein said object further comprises adownward pointing camera for remotely viewing from the position of saidobject.
 17. The system of claim 1 wherein said object comprises at leastone person.
 18. The system of claim 1 further comprising at least threesupports.
 19. A method for facilitating three-dimensional movement of asuspended object comprising: relocating an X line associated with aplatform with an X junction to effectuate X-movement of said platform;relocating a Y line associated with said platform with a Y junction toeffectuate Y-movement of said platform; and, displacing said X line andY line with a Z movement device to effectuate Z-movement of saidplatform.
 20. The method of claim 19 wherein said X line and said Y lineare two line sides of a line.
 21. The method of claim 19 furthercomprising: isolating an object coupled to said platform from linemovement.
 22. The method of claim 19 further comprising: stabilizing anobject passively coupled to said platform from line movement.
 23. Themethod of claim 19 further comprising: stabilizing an object activelycoupled to said platform from line movement.
 24. The method of claim 19further comprising: obtaining pictures from a photographic devicecoupled to said platform.
 25. A system for facilitatingthree-dimensional movement of a suspended object comprising: means forrelocating an X line associated with a platform with an X junction toeffectuate X-movement of said platform; means for relocating a Y lineassociated with said platform with a Y junction to effectuate Y-movementof said platform; and, means for displacing said X line and Y line witha Z movement device to effectuate Z-movement of said platform.
 26. Thesystem of claim 25 wherein said X line and said Y line are two linesides of a single line.
 27. The system of claim 25 further comprising:means for isolating an object coupled to said platform from linemovement.
 28. The system of claim 25 further comprising: means forstabilizing an object passively coupled to said platform from linemovement.
 29. The system of claim 25 further comprising: means forstabilizing an object actively coupled to said platform from linemovement.
 30. The system of claim 25 further comprising: means forobtaining pictures from a photographic device coupled to said platform.